X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=3967090b55d04fa37c1ae5c87a0dc7cfe8c8c955;hp=5f07e8b06cf8827e71e031b215c30a1aedbbc97d;hb=c6e57291d91f1f6c4de5c54a5cfd3eef66d9f830;hpb=7064bc685aebeef07711e525dea4d5fbe33d235b

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 5f07e8b0..3967090b 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -42,12 +43,12 @@
 			       AO_COMPANION_SPI_BUS);	\
 	} while (0)
 
-__xdata struct ao_companion_command		ao_companion_command;
-__xdata struct ao_companion_setup		ao_companion_setup;
+struct ao_companion_command		ao_companion_command;
+struct ao_companion_setup		ao_companion_setup;
 
-__xdata uint16_t	ao_companion_data[AO_COMPANION_MAX_CHANNELS];
-__pdata uint8_t		ao_companion_running;
-__xdata uint8_t		ao_companion_mutex;
+uint16_t	ao_companion_data[AO_COMPANION_MAX_CHANNELS];
+uint8_t		ao_companion_running;
+uint8_t		ao_companion_mutex;
 
 static void
 ao_companion_send_command(uint8_t command)
@@ -106,7 +107,7 @@ ao_companion(void)
 		    break;
 	}
 	while (ao_companion_running) {
-		if (ao_sleep_for(DATA_TO_XDATA(&ao_flight_state), ao_companion_setup.update_period))
+		if (ao_sleep_for(&ao_flight_state, ao_companion_setup.update_period))
 			ao_companion_get_data();
 		else
 			ao_companion_notify();
@@ -115,7 +116,7 @@ ao_companion(void)
 }
 
 void
-ao_companion_status(void) __reentrant
+ao_companion_status(void) 
 {
 	uint8_t	i;
 	printf("Companion running: %d\n", ao_companion_running);
@@ -133,12 +134,12 @@ ao_companion_status(void) __reentrant
 	printf("\n");
 }
 
-__code struct ao_cmds ao_companion_cmds[] = {
+const struct ao_cmds ao_companion_cmds[] = {
 	{ ao_companion_status,	"L\0Companion link status" },
 	{ 0, NULL },
 };
 
-static __xdata struct ao_task ao_companion_task;
+static struct ao_task ao_companion_task;
 
 void
 ao_companion_init(void)